Autonomous indoor exploration and mapping
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Uploaded by maklinchi on Dec 31, 2010
This video shows an autonomous robot exploring and mapping an indoor environment and a base station GUI displaying the built map, robot position and trajectory, and onboard camera view. The robot performs real-time simultaneous localization and mapping (SLAM), high-level control using frontier-based path planning and low-level control using a P-controller, while sending sensor data and local maps to the base station. The base station combined all local maps and display the map and sensor data to human operators. The human operators can e-stop the robot through the buttons in the GUI. The robot successfully maps the whole room autonomously.
The robot, which is of a four-wheel drive differential-steering design, carries various sensors, including a GPS receiver, an IMU, a compass and a SICK laser range finder. More details of the robot and research in CMS@VT can be found in http://www.cmsvt.org/muv
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This is awesome. Love this whole concept.
MadMurphyGames 11 months ago